jump_detector.h

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/*
 * Copyright (c) 2018, the neonavigation authors
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
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 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
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 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef PLANNER_CSPACE_JUMP_DETECTOR_H
#define PLANNER_CSPACE_JUMP_DETECTOR_H
 
#include <cmath>
#include <string>
 
#include <ros/ros.h>
 
#include <tf2/utils.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <tf2_ros/transform_listener.h>
 
namespace planner_cspace
{
namespace planner_3d
{
class JumpDetector
{
protected:
  tf2_ros::Buffer& tfbuf_;
  tf2::Transform base_trans_prev_;
  tf2::Transform map_trans_prev_;
 
  std::string jump_detect_frame_;
  std::string map_frame_;
 
  double pos_jump_;
  double yaw_jump_;
 
  bool init_;
 
public:
  explicit JumpDetector(tf2_ros::Buffer& tfbuf)
    : tfbuf_(tfbuf)
    , base_trans_prev_(tf2::Quaternion(0, 0, 0, 1))
    , map_trans_prev_(tf2::Quaternion(0, 0, 0, 1))
    , init_(false)
  {
  }
  void setMapFrame(const std::string& frame_id)
  {
    map_frame_ = frame_id;
  }
  void setBaseFrame(const std::string& frame_id)
  {
    jump_detect_frame_ = frame_id;
  }
  void setThresholds(const double pos_jump, const double yaw_jump)
  {
    pos_jump_ = pos_jump;
    yaw_jump_ = yaw_jump;
  }
  bool detectJump()
  {
    tf2::Stamped<tf2::Transform> base_trans;
    tf2::Stamped<tf2::Transform> map_trans;
    try
    {
      geometry_msgs::TransformStamped base_trans_tmp =
          tfbuf_.lookupTransform(jump_detect_frame_, "base_link", ros::Time());
      geometry_msgs::TransformStamped map_trans_tmp =
          tfbuf_.lookupTransform(map_frame_, "base_link", ros::Time());
      tf2::fromMsg(base_trans_tmp, base_trans);
      tf2::fromMsg(map_trans_tmp, map_trans);
    }
    catch (tf2::TransformException& e)
    {
      return false;
    }
    const auto diff =
        map_trans.inverse() * map_trans_prev_ * (base_trans_prev_.inverse() * base_trans);
    base_trans_prev_ = base_trans;
    map_trans_prev_ = map_trans;
 
    if (!init_)
    {
      init_ = true;
      return false;
    }
 
    const auto pos_diff = diff.getOrigin().length();
    const auto yaw_diff = tf2::getYaw(diff.getRotation());
 
    if (pos_diff > pos_jump_ || std::abs(yaw_diff) > yaw_jump_)
    {
      ROS_ERROR("Position jumped (%0.3f/%0.3f, %0.3f/%0.3f); clearing history",
                pos_diff, pos_jump_, yaw_diff, yaw_jump_);
      return true;
    }
    return false;
  }
};
}  // namespace planner_3d
}  // namespace planner_cspace
 
#endif  // PLANNER_CSPACE_JUMP_DETECTOR_H